Corrected control system derivative calculations

[ryan-summers]

This change corrects the bug as reported in #330 by adding in a boolean that indicates whether or not new measurements have arrived for a specific state. New errors are stored only if new state information has been received.

Integral information is still updated even if new state information has not been received. Do we want to change this?

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This change is 

[ryan-summers]

I believe that the failing CI tests are due to PalouseRobosub/robosub_simulator-2018#111

[ryan-summers]

A PR has been made to correct the simulator PID values as necessary for this PR: PalouseRobosub/robosub_simulator-2018#112

[ryan-summers]

Review status: 0 of 2 files reviewed at latest revision, 1 unresolved discussion, some commit checks failed.

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src/movement/control_system.cpp, line 60 at r1 (raw file):

        current_integral = Vector6d::Zero();
        current_derivative = Vector6d::Zero();
        goals = Vector6d::Zero();

new_measurement_available needs to be set to false.

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Comments from Reviewable

[skallaher]

Reviewed 1 of 2 files at r1, 1 of 1 files at r2.
Review status: all files reviewed at latest revision, 3 unresolved discussions, some commit checks failed.

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src/movement/control_system.h, line 169 at r2 (raw file):

     * Boolean vector indicating that new state measurements are available.
     */
    Matrix<bool, 6, 1> new_measurement_available;

Is there a reason that this is a 6x1 matrix of booleans rather than an array of 6 booleans?

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src/movement/control_system.h, line 174 at r2 (raw file):

     * The previous errors calculated.
     */
    Matrix<std::deque<StateMeasurement>, 6, 1> previous_error;

Similar question here. Why not use an array or vector?

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Comments from Reviewable

[ryan-summers]

Review status: all files reviewed at latest revision, 3 unresolved discussions, some commit checks failed.

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src/movement/control_system.cpp, line 60 at r1 (raw file):

Previously, ryan-summers (Ryan Summers) wrote…

new_measurement_available needs to be set to false.

Done.

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src/movement/control_system.h, line 169 at r2 (raw file):

Previously, skallaher (Sean Kallaher) wrote…

Is there a reason that this is a 6x1 matrix of booleans rather than an array of 6 booleans?

See reply below

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src/movement/control_system.h, line 174 at r2 (raw file):

Previously, skallaher (Sean Kallaher) wrote…

Similar question here. Why not use an array or vector?

It's keeping the class consistent since everything else is using Eigen vector/matrix types

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Comments from Reviewable

[skallaher]

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Review status: all files reviewed at latest revision, all discussions resolved, all commit checks successful.

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Comments from Reviewable